Marvelmind Super-MP-3D User manual

Marvelmind Indoor Navigation System
Operating manual
v2022_08_24
www.marvelmind.com

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Contents
1. Executive summary........................................................................................................................13
1.1. Key capabilities:........................................................................................................................14
1.2. Legend......................................................................................................................................15
2. Basics of the system......................................................................................................................16
2.1. What’s in the box ......................................................................................................................16
2.1.1. Starter Set Super-MP-3D:.................................................................................................... 16
2.1.2. Starter Set IA-04-2D-Badge: ............................................................................................... 16
2.2. Indoor Navigation System architectures...................................................................................17
2.3. Architectures’ elements ............................................................................................................19
2.4. Indoor “GPS” System close-up and internal view.....................................................................20
3. System elements............................................................................................................................23
3.1. Control system (Dashboard).....................................................................................................23
3.2. Stationary beacon.....................................................................................................................24
3.3. Mobile beacon a.k.a. “hedgehog” .............................................................................................25
3.4. Modem......................................................................................................................................26
3.5. Different types of modems........................................................................................................27
3.5.1. Super-Modem...................................................................................................................... 27
3.5.2. Modem HW v5.1.................................................................................................................. 29
3.5.3. Modem HW v4.9.................................................................................................................. 30
3.6. Different types of beacons........................................................................................................31
3.6.1. Super-Beacon...................................................................................................................... 32
3.6.2. Beacon Mini-RX................................................................................................................... 40
3.6.3. Beacon Mini-TX................................................................................................................... 47
3.6.4. Beacon Industrial-TX-Metal................................................................................................. 48
3.6.5. Beacon Industrial-RX........................................................................................................... 50
3.6.6. Industrial Super-Beacon Metal-25kHz................................................................................. 53
3.6.7. Beacon HW v4.9.................................................................................................................. 55
4. Software pack ................................................................................................................................56
4.1. Download and open..................................................................................................................57
4.2. Dashboard folder ......................................................................................................................58
4.3. Software IA folder .....................................................................................................................59
4.3.1. Types of Industrial-Super-Beacons: .................................................................................... 61
4.4. Software NIA folder...................................................................................................................62
4.5. Super-Modem folder.................................................................................................................64
5. SW settings descriptions................................................................................................................65
5.1. Super-Modem’s SW update and configuration description ......................................................65
5.1.1. Super-Modem’s SW update................................................................................................. 65
5.1.2. How to update Super-Modem (for SW version from v7.000) .............................................. 66
5.1.3. How to update Super-Modem’s SW (for SW version older than v7.000): ........................... 68
5.1.4. Super-Modem’s configuration.............................................................................................. 69

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5.2. SW update (USB/Radio/DFU) ..................................................................................................71
5.2.1. SW update via USB............................................................................................................. 71
5.2.2. SW update via Radio........................................................................................................... 73
5.2.3. SW update via DFU Programming...................................................................................... 74
6. Setting up the system ....................................................................................................................79
6.1. Introduction...............................................................................................................................79
6.2. DIP switch positions..................................................................................................................80
6.2.1. DIP switch position for OFF beacon.................................................................................... 80
6.2.2. DIP switch position for work and HEX programming........................................................... 80
6.2.3. DIP switch position for DFU programming .......................................................................... 80
6.3. Starter Set Super-MP-3D (NIA and IA).....................................................................................81
6.4. Starter Set HW v4.9..................................................................................................................92
6.5. Starter Set NIA-SmallDrone....................................................................................................100
6.6. Starter Set Industrial-NIA-01...................................................................................................109
7. Dashboard menu and Parameters...............................................................................................119
7.1. Dashboard general view.........................................................................................................119
7.2. Diagnostics messages window...............................................................................................120
7.3. Table of distances...................................................................................................................123
7.4. Devices List.............................................................................................................................125
7.5. Visualization settings ..............................................................................................................126
7.6. Map Settings...........................................................................................................................127
7.7. Modem/beacon’s quick control panel .....................................................................................128
7.8. Celling and Mirroring buttons on the Dashboard....................................................................129
7.9. Detailed settings .....................................................................................................................130
7.9.1. Modem Settings................................................................................................................. 130
7.9.2. Beacon’s settings............................................................................................................... 136
7.10. Radio frequency band and Carrier frequency.........................................................................148
7.11.Different hedgehog colors in the Dashboard..........................................................................149
7.12. Different beacons’ colors in the Dashboard............................................................................150
8. The Map.......................................................................................................................................151
8.1. Introduction.............................................................................................................................151
8.2. Map layers ..............................................................................................................................152
8.3. The Submap ...........................................................................................................................153
8.4. Submaps’ service zones.........................................................................................................154
8.5. Handover zones......................................................................................................................155
8.6. Beacons’ ultrasonic frequencies .............................................................................................158
9. Features.......................................................................................................................................159
9.1. Licenses..................................................................................................................................159
9.1.1. How to activate licenses .................................................................................................... 159
9.1.2. License MMSW0005 designation in Dashboard ............................................................... 161
9.2. Islands feature ........................................................................................................................162

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9.3. Dashboard Monitoring Mode ..................................................................................................166
9.4. Microphone settings................................................................................................................167
9.4.1. Specific Marvelmind devices ............................................................................................. 167
9.4.2. Separate Omni-microphone............................................................................................... 168
9.5. Restart if modem is disconnected...........................................................................................170
9.6. Geofencing zones...................................................................................................................171
9.7. Geofencing alarm (MMSW0006 license)................................................................................174
9.8. PPS (Pulse per second) signal...............................................................................................177
9.9. Floors feature (FN0011) .........................................................................................................178
9.9.1. The general view ............................................................................................................... 178
9.9.2. Floor Settings..................................................................................................................... 179
9.9.3. Map layers ......................................................................................................................... 181
9.9.4. Loading the Floorplan (Substrate)..................................................................................... 182
9.10. All hedgehogs update every cycle..........................................................................................184
9.11. Filters ......................................................................................................................................186
9.11.1. Spot filtering (for IA only)................................................................................................... 186
9.11.2. Window of averaging (NIA only)........................................................................................ 187
9.12. Submap Settings.....................................................................................................................188
9.13. Axis rotation feature (FN0002)................................................................................................189
9.14. Vertical submaps feature (FN0003)........................................................................................191
9.14.1. How to build vertical submap for stable Z:......................................................................... 192
9.15. Submaps feature (FN0004) ....................................................................................................194
9.15.1. Starting submaps............................................................................................................... 195
9.15.2. How to create a service zone: ........................................................................................... 199
9.16. Handover Zones Setting.........................................................................................................201
9.17. Paired beacons (FN0005).......................................................................................................202
9.18. Paired microphones................................................................................................................204
9.19. Map settings............................................................................................................................205
9.20. Background color....................................................................................................................206
9.21. Hedge color change (FN0006) ...............................................................................................208
9.22. Payload streaming (FN0007)..................................................................................................210
9.23. IMU feature (FN0008).............................................................................................................211
9.23.1. Setup IMU feature.............................................................................................................. 211
9.23.2. Using Data in the Python Library Example........................................................................ 213
9.24.IMU axis positioning................................................................................................................214
9.25. Player feature (FN0009) .........................................................................................................216
9.26. Real-time player feature (FN0010).........................................................................................218
9.27. CSV format .............................................................................................................................220
10. Interfaces .....................................................................................................................................221
10.1. Super-beacon external interface pinout top view ...................................................................222
4x4 pinout for Super-Beacon: ...........................................................................................................222

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10.2. Beacon HW v4.9 external interface 4x4 pinout top view........................................................223
10.3. Modem HW v4.9 external interface pinout top view...............................................................224
10.4. Mini-RX internal solderable pinouts (for experienced users only)..........................................225
11. Advanced system settings and optimization................................................................................226
11.1. Radio Profiles compatibility.....................................................................................................227
Examples of different configurations .............................................................................................. 228
11.2. Wi-Fi settings for Super-Modem.............................................................................................229
11.2.1. Wi-Fi settings menu in Dashboard .................................................................................... 229
11.2.2. Static IP.............................................................................................................................. 231
11.3. Building big maps in Inverse Architecture (IA)........................................................................233
11.3.1. Introduction........................................................................................................................ 233
11.3.2. TDMA sequence:............................................................................................................... 234
11.3.3. TDMA Type 2 - Full-overlapping submaps........................................................................ 236
11.4. Increasing update rate............................................................................................................239
11.5. Reducing location update latency...........................................................................................240
11.6. How to Place Beacons............................................................................................................242
11.7. Using the Oscilloscope ...........................................................................................................243
11.8. Proper Ultrasonic Signal Detection.........................................................................................244
11.9. Using hedgehog.log file ..........................................................................................................245
11.10.System Accuracy Evaluation ..................................................................................................246
11.11.Calibration of the accelerometer.............................................................................................247
11.12.Settings to obtain correct north direction................................................................................249
11.13.Communication of Pixhawk with Marvelmind mobile beacon.................................................250
11.14.Sending path to robot .............................................................................................................251
11.15. Proper ultrasonic coverage....................................................................................................254
11.16. Sensors settings: example for 2D and mobile beacon..........................................................256
11.17.Powering beacons ..................................................................................................................257
11.18.Power supply and Leds ..........................................................................................................258
12. Frequently Asked Questions........................................................................................................259
13. Troubleshooting checklist ............................................................................................................261
13.1. Checklist before starting the system:......................................................................................262
14. Contacts.......................................................................................................................................263

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Version changes
V2022_08_24
-Chapter 6 updated
-Chapter 8 updated
-Section 11.3 updated
-Minor improvements
V2022_08_17
-Minor fixes and improvements
V2022_08_12
-Chapter 4 updated
V2022_08_10
-Section 9.11 Filters added
-Section 11.16 Sending path to robot updated
-Minor fixes and improvements
V2022_08_05
-Section 7.2 updated
-Section 9.12 added
-Section 9.2 Islands feature added
-Section 9.10 All hedgehogs update every cycle added
-Section 9.14.2 updated
-Chapter 10 updated
-Section 11.2.2 Static IP added
V2022_06_16
-Section 9.4 Restart if modem disconnected added
-Section 9.5 Geofencing alarm added
-Section 9.6 PPS (Pulse per second) signal added
-Section 11.1 Radio Profiles compatibility updated
-SW settings chapter moved to chapter 5
-Chapter 5.1.2 added
-Minor fixes and improvements
V2022_06_01
-Section 10.2 Wi-Fi settings for Super-Modem added
V2022_05_20
-Section 2.4 The Maps –moved to chapter 7
-Section 3.6.3.1 How to flash Beacon mini-RX added
-Section 8.22 updated
-Chapter 12 updated
-Section 4.4 updated
-Section 8.6 updated
-Section 10.1 Radio Profiles compatibility added

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V2022_05_13
-Section 5.2 DIP switch position added
-Information about Industrial Beacons 3 added
V2022_05_06
-Section 7.11 updated
-Section 2.3 updated
-Section 9.1 updated
V2022_04_26
-Section 4 - Software pack added
V2022_04_07
-Section 4 screenshots updated
-Section 6.7.3 added
-Section 6.7.4 added
-Section 6.12 updated
-Section 6.13 updated
-Section 6.9.1 updated
-Section 5.9.2 updated
V2022_04_05
-3.1 section updated
-3.2 section updated
-3.4 section updated
-3.5.3 section updated
-Information about Starter Set NIA-01-3D removed
-Section 4.3 pictures of top view and side view changed to relevant
-Section 4 examples of 2D configuration added
-Information about Starter Set NIA-02-2D removed
-Information about Starter Set IA-01-2D removed
-Information about Starter Set IA-02-3D removed
-5.1 section screenshot updated
-5.4 section all screenshots updated
-5.7 section screenshots updated
-6.7.1 section updated
-6.7.2 section screenshots updated
-Information about new frequencies added
-Section 11 updated
-Sections 3.6.4; 3.6.5; 3.6.6; 3.6.7 pinout picture from April 2022 added
V2022_02_23
-Screenshot and clarifications to section 7.2.2 added
-Unrelated information from section 9.11 removed
-Hyperlinks fixed
-Starter set product information updated

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-1.1 distance between beacons updated
-3.2 section updated
-3.4 section updated
-9.11 section updated
-11.1 section updated
-Minor fixes and improvements
V2021_08_12
-Omni-microphone soldering scheme added
-Omni-microphone setting description added
V2021_07_04
-Added Microphone settings chapter
V2021_06_20
- Added connection pictures for Paired beacons chapter
- Links fixed for interface manual
V2021_06_10
-“Paired microphones” chapter added.
-Turning on microphones setting describing added
V2021_06_04
-Super-Beacon 2 pinout picture updated
V2021_06_03
-Pairing beacon chapter and beacons pinout pictures updated
V2021_04_25
- Paired beacons chapter updated
V2021_02_09
- Minor fixes and improvements
V2021_01_28
- Architectures’ elements chapter described
- Architectures chapter improved
- Minor fixes and improvements
V2020_12_21
- FCC notice for Super-Beacon description added
- Minor fixes and improvements
V2020_12_14
- FCC notice for Modem HW v5.1 description added
- Minor fixes and improvements
V2020_12_04
- Starting up chapters improved
- Minor fixes and improvements
V2020_12_01
- Starting up chapters improved
- Submap’s settings chapter improved
- SW update chapter improved with DFU Programming descriptions
- Minor fixes and improvements

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V2020_11_24
- Licenses chapter updated
- Different beacons’ colors chapter improved
- Minor fixes and improvements
V2020_11_11
- Player chapter improved
- Diagnostics messages chapter described
- SW update chapter added
- Paired beacons chapter improved
- Minor fixes and improvements
V2020_08_07
- Modem HW v5.1 described
- Minor fixes and improvements
V2020_07_23
- System elements chapter improved
- Industrial beacons’ transmitting/reception diagram described
- Minor fixes and improvements
V2020_07_15
- Mini-RX internal solderable pinouts
- Minor fixes and improvements
V2020_05_21
- Starting up Starter Set Super-MP-3D (IA) described
- Minor fixes and improvements
V2020_05_13
- Reducing update rate latency chapter improved
- Minor fixes and improvements
V2020_05_08
- Building big maps in Inverse Architecture (IA) chapter described
- Minor fixes and improvements
V2020_04_24
- Dashboard Monitoring Mode described
- Super-Modem described
- Super-Modem SW update described
- Minor fixes and improvements
V2020_04_09
- Minor fixes and improvements
V2020_04_07
- Background color described
- Height input in Starting up chapters described
- Minor fixes and improvements
V2020_02_27
- Geofencing zones described
- IMU axis positioning for Super-Beacon described
- External microphones soldering scheme for Super-Beacon improved
V2020_02_21
- Minor fixes and improvements

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V2020_02_14
- Architectures comparison table added
- Legend chapter improved
- Minor fixes and improvements
- Floorplan Help video added
V2020_01_17
- External microphones connection for Mini-RX and Super-Beacon described
- Minor fixes and improvements
V2019_12_10
- Appendixes chapter improved
- Minor fixes and improvements
V2019_12_03
- Appendixes chapter added (protocols)
- Minor fixes and improvements
V2019_11_18
- Mini-RX solderable pinouts described
- Industrial connectors pinouts improved
- Minor fixes and improvements
V2019_10_31
- Industrial Super-Beacon Metal-25kHz described
- Starting up chapters for every starter set described
- Super-Beacon and Super-Beacon outdoor described
- Improved photos
- Reception diagrams for HW v4.9 improved
- Oscilloscope chapter improved
- Minor fixes and improvements
V2019_07_02
- Troubleshooting improved
- Architectures comparison improved
- Minor fixes and improvements
V2019_06_25
- TDMA modes described
- Stationary beacons’ colors described
- Minor fixes and improvements
V2019_06_13
- Delay tuning described
- Update rate tuning described
- Minor fixes and improvements
V2019_06_07
- F.A.Q. and Troubleshooting improved
- Architectures comparison improved
- Receiving and transmitting angles illustrations added (v4.9 chapter and Mini-RX chapter)
- Ceiling and mirroring buttons described
V2019_06_03
- TDMA described
V2019_05_28
- IMU axis positioning fixed